Autopilot control system for unmanned vehicles

Abstract

A control system an unmanned vehicle includes a first processing unit configured to execute a primary autopilot process for controlling the unmanned vehicle. The control system further includes a programmable logic array in operative communication with the first processing unit. The control system also includes a state machine configured in the programmable logic array. The state machine is configured to enable control of the unmanned vehicle according to a backup autopilot process in response to an invalid output of the first processing unit.

What is claimed is: 
     
       1. A control system for an unmanned vehicle, comprising:
 a first processing unit configured to execute a primary autopilot process for controlling the unmanned vehicle; 
 a programmable logic array in operative communication with the first processing unit; 
 a state machine configured in the programmable logic array, the state machine configured to enable control of the unmanned vehicle according to a backup autopilot process in response to an invalid output of the first processing unit, 
 wherein the primary autopilot process includes a first set of processor readable instructions associated with controlling one or more vehicle devices of the unmanned vehicle; and wherein the backup autopilot process includes a second set of processor readable instructions that is different than the first set of processor readable instructions and is associated with controlling the one or more vehicle devices of the unmanned vehicle. 
 
     
     
       2. The control system of  claim 1 , wherein the programmable logic array comprises a flash-based field programmable gate array. 
     
     
       3. A control system for an unmanned vehicle, comprising:
 a first processing unit configured to execute a primary autopilot process for controlling the unmanned vehicle; 
 a programmable logic array in operative communication with the first processing unit; 
 a state machine configured in the programmable logic array, the state machine configured to enable control of the unmanned vehicle according to a backup autopilot process in response to an invalid output of the first processing unit, wherein the state machine is configured to: 
 receive a first signal associated with the output of the first processing unit; 
 receive a second signal associated with an output of a remote device configured to control the unmanned vehicle via user-manipulation of one or more input devices of the remote device; 
 when the second signal indicates a user-selection to control the unmanned vehicle based on at least one autopilot input, enable control of the unmanned vehicle by the primary autopilot process or the backup autopilot process; and 
 when the second signal does not indicate a user-selection to control the unmanned vehicle based on the autopilot process, enable control of the UAV by the remote device, 
 wherein the control system further comprises a multiplexer configured in the programmable logic array, the multiplexer configured to receive: a plurality of first servo commands associated with the output of the primary autopilot process; a plurality of second servo commands associated with an output of the backup autopilot process; and a plurality of third servo commands associated with the output of the remote device. 
 
     
     
       4. The control system of  claim 3 , wherein the state machine is configured to:
 when the second signal indicates a user selection to control the unmanned vehicle based on the at least one autopilot input, enable control of the UAV by the primary autopilot process in response to a valid output of the primary autopilot process. 
 
     
     
       5. The control system of  claim 3 , wherein:
 the multiplexer is configured to output the plurality of first servo commands when the state machine enables control of the UAV by the primary autopilot process; 
 the multiplexer is configured to output the plurality of third servo commands when the state machine enables control of the UAV by the backup autopilot process. 
 
     
     
       6. The control system of  claim 5 , further comprising:
 a plurality of buffers configured to receive the third plurality of servo commands from the multiplexer. 
 
     
     
       7. The control system of  claim 3 , wherein the multiplexer is configured to output the plurality of third servo commands when the state machine enables control of the UAV by the remote device. 
     
     
       8. The control system of  claim 3 , wherein the programmable logic array comprises a flash-based field programmable gate array.